RT Journal ArticleJF IEEE Transactions on Mobile ComputingYR 2014VO 13IS 2SP 287TI HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for LocalizationA1 Zhongli Liu, A1 Yinjie Chen, A1 Benyuan Liu, A1 Chengyu Cao, A1 Xinwen Fu, K1 HelicoptersK1 Wireless communicationK1 Wireless sensor networksK1 SoftwareK1 RoadsK1 SurveillanceK1 Mobile computingK1 UAVK1 LocalizationK1 smartphoneAB This paper presents a fully functional and highly portable mini Unmanned Aerial Vehicle (UAV) system, HAWK, for conducting aerial localization. HAWK is a programmable mini helicopter Draganflyer X6 armed with a wireless sniffer Nokia N900. We developed custom PI-Control laws to implement a robust waypoint algorithm for the mini helicopter to fly a planned route. A Moore space filling curve is designed as a flight route for HAWK to survey a specific area. A set of theorems were derived to calculate the minimum Moore curve level for sensing all targets in the area with minimum flight distance. With such a flight strategy, we can confine the location of a target of interest to a small hot area. We can recursively apply the Moore curve-based flight route to the hot area for a fine-grained localization of a target of interest. We have conducted extensive experiments to validate the feasibility of HAWK and our theory. A demo of HAWK in autonomous fly is available at http://www.youtube.com/watch?v=ju86xnHbEq0.PB IEEE Computer Society, [URL:http://www.computer.org]SN 1536-1233LA EnglishDO 10.1109/TMC.2012.238LK http://doi.ieeecomputersociety.org/10.1109/TMC.2012.238